Scheduling Algorithms : Important Aspects Minimize Response Time –Elapsed time to do an operation (job) –Response time is what the user sees Time to echo keystroke in editor Time to compile a program Real-time Tasks: Must meet deadlines imposed by World Maximize Throughput –Jobs per second –Throughput related to response time, but not identical Minimizing response time will lead to more context switching than if you maximized only throughput –Minimize overhead (context switch time) as well as efficient use of resources (CPU, disk, memory, etc.) Fairness –Share CPU among users in some equitable way –Not just minimizing average response time Operating Systems1

Scheduling Algorithms: First-Come, First-Served (FCFS) “Run until Done:” FIFO algorithm In the beginning, this meant one program runs non- preemtively until it is finished (including any blocking for I/O operations) Now, FCFS means that a process keeps the CPU until one or more threads block Example: Three processes arrive in order P1, P2, P3. –P1 burst time: 24 –P2 burst time: 3 –P3 burst time: 3 Draw the Gantt Chart and compute Average Waiting Time and Average Completion Time. Operating Systems2

Scheduling Algorithms: First-Come, First-Served (FCFS) Example: Three processes arrive in order P1, P2, P3. –P1 burst time: 24 –P2 burst time: 3 –P3 burst time: 3 Waiting Time –P1: 0 –P2: 24 –P3: 27 Completion Time: –P1: 24 –P2: 27 –P3: 30 Average Waiting Time: ( )/3 = 17 Average Completion Time: ( )/3 = 27 P1P2P Operating Systems3

Scheduling Algorithms: First-Come, First-Served (FCFS) What if their order had been P2, P3, P1? –P1 burst time: 24 –P2 burst time: 3 –P3 burst time: 3 Operating Systems4

Scheduling Algorithms: First-Come, First-Served (FCFS) What if their order had been P2, P3, P1? –P1 burst time: 24 –P2 burst time: 3 –P3 burst time: 3 Waiting Time –P1: 0 –P2: 3 –P3: 6 Completion Time: –P1: 3 –P2: 6 –P3: 30 Average Waiting Time: (0+3+6)/3 = 3 (compared to 17) Average Completion Time: (3+6+30)/3 = 13 (compared to 27) P1P2P Operating Systems5

Scheduling Algorithms: First-Come, First-Served (FCFS) Average Waiting Time: (0+3+6)/3 = 3 (compared to 17) Average Completion Time: (3+6+30)/3 = 13 (compared to 27) FIFO Pros and Cons: –Simple (+) –Short jobs get stuck behind long ones (-) If all you’re buying is milk, doesn’t it always seem like you are stuck behind a cart full of many items –Performance is highly dependent on the order in which jobs arrive (-) Operating Systems6

Round Robin (RR) Scheduling FCFS Scheme: Potentially bad for short jobs! –Depends on submit order –If you are first in line at the supermarket with milk, you don’t care who is behind you; on the other hand… Round Robin Scheme –Each process gets a small unit of CPU time (time quantum) Usually ms –After quantum expires, the process is preempted and added to the end of the ready queue –Suppose N processes in ready queue and time quantum is Q ms: Each process gets 1/N of the CPU time In chunks of at most Q ms What is the maximum wait time for each process? Operating Systems7

Round Robin (RR) Scheduling FCFS Scheme: Potentially bad for short jobs! –Depends on submit order –If you are first in line at the supermarket with milk, you don’t care who is behind you; on the other hand… Round Robin Scheme –Each process gets a small unit of CPU time (time quantum) Usually ms –After quantum expires, the process is preempted and added to the end of the ready queue –Suppose N processes in ready queue and time quantum is Q ms: Each process gets 1/N of the CPU time In chunks of at most Q ms What is the maximum wait time for each process? –No process waits more than (n-1)q time units Operating Systems8

Round Robin (RR) Scheduling Round Robin Scheme –Each process gets a small unit of CPU time (time quantum) Usually ms –After quantum expires, the process is preempted and added to the end of the ready queue –Suppose N processes in ready queue and time quantum is Q ms: Each process gets 1/N of the CPU time In chunks of at most Q ms What is the maximum wait time for each process? –No process waits more than (n-1)q time units Performance Depends on Size of Q –Small Q => interleaved –Large Q is like… –Q must be large with respect to context switch time, otherwise overhead is too high (spending most of your time context switching!) Operating Systems9

Round Robin (RR) Scheduling Round Robin Scheme –Each process gets a small unit of CPU time (time quantum) Usually ms –After quantum expires, the process is preempted and added to the end of the ready queue –Suppose N processes in ready queue and time quantum is Q ms: Each process gets 1/N of the CPU time In chunks of at most Q ms What is the maximum wait time for each process? –No process waits more than (n-1)q time units Performance Depends on Size of Q –Small Q => interleaved –Large Q is like FCFS –Q must be large with respect to context switch time, otherwise overhead is too high (spending most of your time context switching!) Operating Systems10

Example of RR with Time Quantum = 4 ProcessBurst Time P 1 24 P 2 3 P 3 3 The Gantt chart is: P1P1 P2P2 P3P3 P1P1 P1P1 P1P1 P1P1 P1P Operating Systems11

Example of RR with Time Quantum = 4 Process Burst Time P 1 24 P 2 3 P 3 3 Waiting Time: –P1: (10-4) = 6 –P2: (4-0) = 4 –P3: (7-0) = 7 Completion Time: –P1: 30 –P2: 7 –P3: 10 Average Waiting Time: ( )/3= 5.67 Average Completion Time: ( )/3=15.67 P1P1 P2P2 P3P3 P1P1 P1P1 P1P1 P1P1 P1P Operating Systems12

Example of RR with Time Quantum = 20 Waiting Time: –P1: (68-20)+(112-88) = 72 –P2: (20-0) = 20 –P3: (28-0)+(88-48)+( ) = 85 –P4: (48-0)+(108-68) = 88 Completion Time: –P1: 125 –P2: 28 –P3: 153 –P4: 112 Average Waiting Time: ( )/4 = Average Completion Time: ( )/4 = A process can finish before the time quantum expires, and release the CPU. Operating Systems13

RR Summary Pros and Cons: –Better for short jobs (+) –Fair (+) –Context-switching time adds up for long jobs (-) The previous examples assumed no additional time was needed for context switching – in reality, this would add to wait and completion time without actually progressing a process towards completion. Remember: the OS consumes resources, too! If the chosen quantum is –too large, response time suffers –infinite, performance is the same as FIFO –too small, throughput suffers and percentage overhead grows Actual choices of timeslice: –UNIX: initially 1 second: Worked when only 1-2 users If there were 3 compilations going on, it took 3 seconds to echo each keystroke! –In practice, need to balance short-job performance and long-job throughput: Typical timeslice 10ms-100ms Typical context-switch overhead 0.1ms – 1ms (about 1%) Operating Systems14

Priority Scheduling A priority number (integer) is associated with each process The CPU is allocated to the process with the highest priority (smallest integer  highest priority) –Preemptive (if a higher priority process enters, it receives the CPU immediately) –Nonpreemptive (higher priority processes must wait until the current process finishes; then, the highest priority ready process is selected) SJF is a priority scheduling where priority is the predicted next CPU burst time Problem  Starvation – low priority processes may never execute Solution  Aging – as time progresses increase the priority of the process Operating Systems15

Priority Inversion Consider a scenario in which there are three processes, one with high priority (H), one with medium priority (M), and one with low priority (L). Process L is running and successfully acquires a resource, such as a lock or semaphore. Process H begins; since we are using a preemptive priority scheduler, process L is preempted for process H. Process H tries to acquire L’s resource, and blocks (because it is held by L). Process M begins running, and, since it has a higher priority than L, it is the highest priority ready process. It preempts L and runs, thus starving high priority process H. This is known as priority inversion. What can we do? Operating Systems16

Priority Inversion Process L should, in fact, be temporarily of “higher priority” than process M, on behalf of process H. Process H can donate its priority to process L, which, in this case, would make it higher priority than process M. This enables process L to preempt process M and run. When process L is finished, process H becomes unblocked. Process H, now being the highest priority ready process, runs, and process M must wait until it is finished. Note that if process M’s priority is actually higher than process H, priority donation won’t be sufficient to increase process L’s priority above process M. This is expected behavior (after all, process M would be “more important” in this case than process H). Operating Systems17

Multi-level Feedback Scheduling Another method for exploiting past behavior –Multiple queues, each with different priority Higher priority queues often considered “foreground” tasks –Each queue has its own scheduling algorithm E.g. foreground  RR, background  FCFS Sometimes multiple RR priorities with quantum increasing exponentially (highest queue: 1ms, next: 2ms, next: 4ms, etc.) –Adjust each job’s priority as follows (details vary) Job starts in highest priority queue If entire CPU time quantum expires, drop one level If CPU is yielded during the quantum, push up one level (or to top) Operating Systems18

Lottery Scheduling Yet another alternative: Lottery Scheduling –Give each job some number of lottery tickets –On each time slice, randomly pick a winning ticket –On average, CPU time is proportional to number of tickets given to each job over time How to assign tickets? –To approximate SRTF, short-running jobs get more, long running jobs get fewer –To avoid starvation, every job gets at least one ticket (everyone makes progress) Advantage over strict priority scheduling: behaves gracefully as load changes –Adding or deleting a job affects all jobs proportionally, independent of how many tickets each job possesses Operating Systems19

Conclusion Scheduling: selecting a waiting process from the ready queue and allocating the CPU to it When do the details of the scheduling policy and fairness really matter? –When there aren’t enough resources to go around When should you simply buy a faster computer? –Or network link, expanded highway, etc. –One approach: buy it when it will pay for itself in improved response time Assuming you’re paying for worse response in reduced productivity, customer angst, etc. Might think that you should buy a faster X when X is utilized 100%, but usually, response time goes to infinite as utilization goes to 100% –Most scheduling algorithms work fine in the “linear” portion of the load curve, and fail otherwise –Argues for buying a faster X when utilization is at the “knee” of the curve Operating Systems20